An underwater high-precision servo self-stabilized motion device

Abstract

The utility model provides a kind of underwater high-precision servo self-stabilizing motion device, including outer orientation rotating assembly, inner orientation rotating assembly, inner pitch rotating assembly, servo control driving assembly and base cylinder, wherein outer orientation rotating assembly is mainly used to isolate the influence of external environment to inner frame system and load, ensure the accurate control of stable loop;Inner orientation rotating assembly drives instrument to realize inner orientation rotation in limited angle range, and inner pitch rotating assembly drives instrument to realize pitch rotation in limited angle range;Device adopts two-axis three-frame structure, designs stable transmission mechanism and high-precision control system, and has good stability, high control precision, strong load and adaptability, solves the technical problems such as structure insensitivity, insufficient stability and poor adaptability, and realizes underwater high-precision coordinated motion, fast and accurate aiming and tracking target, obtains stable, clear target image and video information, and can be widely applied in optoelectronic stable platform, underwater robot, underwater exploration operation and other fields.

Description

Technical Field

[0001] This utility model relates to the field of servo control technology, specifically to an underwater high-precision servo self-stabilizing motion device. Background Technology

[0002] In modern precision manufacturing, optical stabilization platforms, aerospace, and high-precision positioning systems, the requirements for structural stability and pointing accuracy are extremely high. To meet the demands of these fields for complex motion control and high-precision stability, high-precision servo devices are required. Currently, servo devices mainly come in two-axis two-frame, two-axis three-frame, and two-axis four-frame structures. The two-axis two-frame structure is compact, mature, small in size, lightweight, and low in cost, with stable and mature technology. However, its frame stability is relatively poor and cannot meet high-precision requirements. The two-axis four-frame structure can effectively isolate external environmental interference on the azimuth axis, offering high stability and strong load-bearing capacity. However, its structure is complex, large in size, heavy in weight, and more expensive, with complex control algorithms. The two-axis three-frame structure, on the other hand, has advantages such as moderate size and weight, high cost-effectiveness, and the ability to effectively isolate external environmental interference on the azimuth axis, and is widely used in many fields. However, existing two-axis three-frame structures are mostly used on water surfaces, and they also suffer from problems such as structural insensitivity, insufficient stability, and poor adaptability that urgently need to be addressed. Utility Model Content

[0003] The main objective of this invention is to provide an underwater high-precision servo self-stabilizing motion device to solve the problems mentioned in the background art.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows: it includes a base cylinder, an outer orientation rotation component is provided inside the base cylinder, an inner orientation rotation component and a servo control drive component are provided on the outer orientation rotation component, and an inner pitch rotation component is provided on the inner orientation rotation component.

[0005] The outer orientation rotation shaft system in the outer orientation rotation assembly rotates inside the base cylinder. An outer orientation torque motor and an outer orientation rotary transformer are provided between the outer orientation rotation shaft system and the base cylinder. A rotating support is fixed at the end of the outer orientation rotation shaft system. A housing is fixed on the rotating support. The inner orientation rotation assembly and the servo control drive assembly are located inside the housing and installed on the rotating support.

[0006] The inner orientation rotating seat in the inner orientation rotating assembly is fixed on the rotating support. The inner orientation rotating seat is provided with a rotating inner orientation rotating shaft system. An inner orientation motor and an inner orientation rotary transformer are provided between the inner orientation rotating shaft system and the inner orientation rotating seat. A U-shaped frame is fixed at the end of the inner orientation rotating shaft system. The inner pitch rotating assembly is installed on the U-shaped frame.

[0007] The first and second inner pitch rotating shafts in the inner pitch rotating assembly are respectively mounted at both ends of the U-shaped frame through inner pitch bearing seats. An inner pitch rotary transformer is provided between the first inner pitch rotating shaft and the inner pitch bearing seat, and an inner pitch motor is provided between the second inner pitch rotating shaft and the inner pitch bearing seat. An instrument mounting base is fixed between the first and second inner pitch rotating shafts, and an instrument and a three-axis gyroscope are mounted on the instrument mounting base.

[0008] Preferably, a fixing ring is fixed at the end of the base cylinder, a Glad ring is provided between the fixing ring and the rotating support, and a sealing ring is provided between the fixing ring and the base cylinder;

[0009] The two ends of the external orientation rotation shaft system are supported by the first and second bearings and rotate inside the base cylinder.

[0010] Preferably, the servo control drive component is used to calculate the control algorithm, provide the drive voltage for each motor, collect information from the three-axis gyroscope and the outer orientation rotary transformer, inner orientation rotary transformer, and inner pitch rotary transformer, and control the drive instrument to achieve inner and outer orientation movement and pitch movement.

[0011] Preferably, the bottom of the base cylinder is provided with a pressure balancing mechanism and a base. The pressure balancing mechanism is provided with a differential pressure compensator and a first differential pressure sensor. The differential pressure compensator is used to automatically balance the internal and external differential pressure. The pressure balancing mechanism and the base cylinder are filled with electric pump oil.

[0012] A second differential pressure sensor is provided on the rotating support. The first and second differential pressure sensors are used to detect the internal and external pressure difference.

[0013] Preferably, the base is provided with a second electrical interface, the rotating support is provided with a first electrical interface, and a conductive slip ring is provided in the outer orientation rotating shaft system. The first electrical interface, the conductive slip ring, and the second electrical interface are electrically connected.

[0014] Preferably, an orientation limiting pin is fixed on one side of the inner orientation rotating seat, and an orientation limiting seat is fixed on one side of the U-shaped frame. The orientation limiting pin is located inside the orientation limiting seat and is used to limit the orientation rotation range of the inner orientation rotating assembly.

[0015] Preferably, a first pitch limiting block and a second pitch limiting block are fixed on the inner pitch bearing housing, and a pitch limiting lever is fixed at the end of the first inner pitch rotating shaft. The pitch limiting lever rotates between the first pitch limiting block and the second pitch limiting block to limit the pitch rotation range of the inner pitch rotating assembly.

[0016] Preferably, a window is provided on one side of the housing, and a protective glass is installed on the window, allowing the instrument to rotate within the visible range of the window.

[0017] This utility model provides an underwater high-precision servo self-stabilizing motion device, with the following advantages:

[0018] 1. The internal orientation and internal pitch of the device are included in the external orientation, which helps to enhance the overall stability and enable the device to maintain good attitude control when subjected to external interference. At the same time, the three-axis gyroscope provides high-precision attitude information of the load and accurately controls the stability of the load's optical axis.

[0019] 2. It adopts a multi-layer frame structure, with each frame equipped with a high-precision resolver, which can be finely adjusted to achieve high-precision control.

[0020] 3. Each frame structure of the device is designed with individual modularity, and the interfaces for interconnection are standardized, making installation and connection convenient, easy to maintain, and conducive to cost reduction. The frame is flexible and can adapt to different loads to meet diverse mission requirements.

[0021] 4. The device is fully sealed and has a built-in pressure self-balancing mechanism, which can effectively protect the sealing structure and internal sensors and components in high-temperature or underwater working environments, ensuring reliable operation in both above-water and underwater environments.

[0022] 5. The design selects a high-torque brushless DC torque motor, which is rigidly connected to the rotating shaft, and uses lightweight, high-strength alloy materials, which have strong load-bearing capacity. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0024] Figure 1 This is a front sectional view of the overall structure of this utility model;

[0025] Figure 2 This is a schematic diagram of the U-shaped frame rotation limiting structure of this utility model;

[0026] Figure 3 This is a schematic diagram of the rotation limit structure of the instrument fixing base of this utility model;

[0027] In the diagram: 1. Outer orientation rotation assembly; 2. Inner orientation rotation assembly; 3. Inner pitch rotation assembly; 4. Servo control drive assembly; 5. Base cylinder; 6. Rotary sealing assembly; 7. Outer orientation torque motor; 8. Outer orientation rotary transformer; 9. Conductive slip ring; 10. Outer orientation rotation shaft system; 11. Fixed ring; 12. Rotating support; 13. Glyd ring; 14. First bearing; 15. Second bearing; 16. First electrical interface; 17. Inner orientation rotation shaft system; 18. Inner orientation motor; 19. Inner orientation rotary transformer; 20. Inner orientation rotating seat; 21. U-shaped frame; 22. Inner pitch motor; 3. Inner pitch... Rotary transformer 23; Inner pitch bearing seat 24; First inner pitch shaft 25; Second inner pitch shaft 26; Instrument mounting base 27; First screw 28; Second screw 29; Three-axis gyroscope 30; Pressure balancing mechanism 31; Base 32; Differential pressure compensator 33; Electric pump oil 34; Second electrical interface 35; First differential pressure sensor 36; Second differential pressure sensor 37; Azimuth limit pin 38; Azimuth limit seat 39; First pitch limit block 40; Second pitch limit block 41; Pitch limit lever 42; Housing 43; Protective glass 44; Instrument 45. Detailed Implementation

[0028] Example 1

[0029] like Figures 1-3 As shown, an underwater high-precision servo self-stabilizing motion device includes a base cylinder 5, an outer orientation rotation component 1 is provided inside the base cylinder 5, an inner orientation rotation component 2 and a servo control drive component 4 are provided on the outer orientation rotation component 1, and an inner pitch rotation component 3 is provided on the inner orientation rotation component 2.

[0030] The outer orientation rotation shaft system 10 in the outer orientation rotation assembly 1 rotates inside the base cylinder 5. An outer orientation torque motor 7 and an outer orientation rotary transformer 8 are provided between the outer orientation rotation shaft system 10 and the base cylinder 5. A rotation support 12 is fixedly provided at the end of the outer orientation rotation shaft system 10. A housing 43 is fixedly provided on the rotation support 12. The inner orientation rotation assembly 2 and the servo control drive assembly 4 are located inside the housing 43 and installed on the rotation support 12.

[0031] The rotating support 12 and the base cylinder 5 achieve 360° rotational sealing, ensuring a watertight space inside the device. The outer orientation rotation component 1 follows the inner orientation rotation component 2, mainly used to isolate friction torque and disturbance torques such as wave impact, reduce the influence of the external environment on the inner orientation rotation component 2, the inner pitch rotation component 3 and the instrument 45, ensure the precise control of the stable circuit, and achieve stable, high-precision servo motion.

[0032] The outer orientation rotation shaft system 10 is equipped with a first bearing 14, an outer orientation torque motor 7, a second bearing 15, and an outer orientation rotary transformer 8, which are installed sequentially from top to bottom on the outer side. These components are used to provide and transmit the outer orientation rotation power. The outer orientation torque motor 7 has advantages such as high position accuracy, large torque, fast response, and strong overload capacity. The orientation rotary transformer 8 outputs the 45-degree azimuth angle value A1 of the instrument with high precision. The outer orientation rotation shaft system 10 is also equipped with a conductive slip ring 9, which has a compact structure. The main function of the conductive slip ring 9 is to ensure that the device has normal and stable power supply and signal transmission with the outside during the movement process.

[0033] Preferably, a fixing ring 11 is fixed at the end of the base cylinder 5, a glyph ring 13 is provided between the fixing ring 11 and the rotating support 12, and a sealing ring is provided between the fixing ring 11 and the base cylinder 5;

[0034] The outer orientation rotation shaft system 10 rotates within the base cylinder 5 through the first bearing 14 and the second bearing 15 at both ends.

[0035] The fixed ring 11, the rotating support 12 and the Glyd ring 13 form a rotary sealing assembly 6. The Glyd ring 13 has the advantages of bidirectional sealing, high pressure stability, low friction and starting resistance, and the rotary sealing effect is better.

[0036] The bottom of the rotating support 12 is connected to the top of the outer orientation rotating shaft system 10 through a sealing ring, and the conductive slip ring 9 is connected to the bottom of the outer orientation rotating shaft system 10 through a sealing ring, so that the base cylinder 5 is a separate sealed cavity. The sealed cavity and the pressure balancing mechanism 31 at its bottom are filled with electric pump oil 34. The pressure balancing mechanism 31 is equipped with a differential pressure compensator 33 and a first differential pressure sensor 36. The differential pressure compensator 33 is used to automatically balance the internal and external differential pressure. The rotating support 12 is also equipped with a second differential pressure sensor 37. The first differential pressure sensor 36 and the second differential pressure sensor 37 are used to detect the internal and external differential pressure.

[0037] The differential pressure compensator 33 has a piston structure. One end of the piston is connected to the sealed cavity and the pressure balancing mechanism 31 and is filled with electric pump oil 34. The other end of the piston is connected to the outside. When in a high-pressure underwater environment, the water pressure pushes the piston to move inward, compressing the electric pump oil 34 to achieve internal and external pressure balance. When the internal pressure inside the sealed cavity of the device increases due to excessive temperature, the electric pump oil 34 pushes the piston to move outward to balance the internal and external pressure difference.

[0038] The base 32 is provided with a second electrical interface 35, the rotating support 12 is provided with a first electrical interface 16, and the outer orientation rotating shaft system 10 is provided with a conductive slip ring 9. The first electrical interface 16, the conductive slip ring 9, and the second electrical interface 35 are electrically connected. This is used for internal power and signal transmission of the device. This structure facilitates component assembly and disassembly and provides good maintainability.

[0039] The inner orientation rotating seat 20 in the inner orientation rotating assembly 2 is fixed on the rotating support 12. The inner orientation rotating seat 20 is provided with a rotating inner orientation rotating shaft system 17. An inner orientation motor 18 and an inner orientation rotary transformer 19 are provided between the inner orientation rotating shaft system 17 and the inner orientation rotating seat 20. A U-shaped frame 21 is fixed at the end of the inner orientation rotating shaft system 17. The inner pitch rotating assembly 3 is installed on the U-shaped frame 21.

[0040] The inner orientation rotation component 2 acts on the U-shaped frame 21, driving the instrument 45 to rotate; the inner orientation rotation transformer 19 of the inner orientation rotation shaft system 17 is connected to the inner orientation rotation shaft system 17, driving the U-shaped frame 21 to rotate; the inner orientation rotation transformer 19 outputs the load orientation angle value A2 with high precision. With this structure, the connection is reliable and the response is flexible.

[0041] The azimuth angle value A1 of the instrument output by the outer azimuth rotary transformer 8 and the azimuth angle value A2 of the instrument output by the inner azimuth rotary transformer 19 are combined by the servo control drive component 4 to output the real-time azimuth angle value of the device.

[0042] The inner orientation motor 18 is arranged outside the inner orientation rotation shaft system 17, and the inner orientation rotary transformer 19 is arranged inside the inner orientation rotation shaft system 17. This structure is compact and helps to reduce axial dimensions. The inner orientation rotation assembly 2 is installed in the stepped hole on the rotation support 12 through the inner orientation rotation seat 20 and docking with the outer orientation rotation assembly 1. The installation positioning accuracy is high, the connection is stable and convenient, and it ensures that the axes of the outer orientation rotation shaft system 10 and the inner orientation rotation shaft system 17 coincide.

[0043] An orientation limiting pin 38 is fixed on one side of the inner orientation rotating seat 20, and an orientation limiting seat 39 is fixed on one side of the U-shaped frame 21. The orientation limiting pin 38 is located inside the orientation limiting seat 39 and is used to limit the orientation rotation range of the inner orientation rotating assembly 2. The rotation angle of the U-shaped frame 21 on the inner orientation rotating seat 20 is limited, ensuring that the instrument 45 is always within the visible area of ​​the window on the housing 43; the outer orientation rotating assembly 1 rotates with the inner orientation rotating assembly 2, thereby giving the instrument 45 a 360° all-around visible area.

[0044] The first inner pitch rotating shaft 25 and the second inner pitch rotating shaft 26 in the inner pitch rotating assembly 3 are respectively mounted at both ends of the U-shaped frame 21 through the inner pitch bearing seat 24. An inner pitch rotary transformer 23 is provided between the first inner pitch rotating shaft 25 and the inner pitch bearing seat 24. An inner pitch motor 22 is provided between the second inner pitch rotating shaft 26 and the inner pitch bearing seat 24. An instrument fixing seat 27 is fixed between the first inner pitch rotating shaft 25 and the second inner pitch rotating shaft 26. An instrument 45 and a three-axis gyroscope 30 are mounted on the instrument fixing seat 27.

[0045] The inner pitch rotation assembly 3 is positioned and connected to the inner azimuth rotation axis 17 through the stepped hole at the bottom of the U-shaped frame 21, ensuring that the inner azimuth rotation axis 17 is perpendicular to the pitch axis. The inner pitch motor 22 and the inner pitch rotary transformer 23 are connected to the first inner pitch axis 25 and the second inner pitch axis 26. The inner pitch motor 22 drives the instrument mounting base 27 to perform pitch rotation, and the inner pitch rotary transformer 23 is used to output the real-time pitch angle value of the instrument 45 with high precision.

[0046] The instrument mounting base 27 adopts a modular design, which can adapt to instruments 45 of different sizes and forms. The two ends of the instrument mounting base 27 are connected to the first inner pitch axis 25 and the second inner pitch axis 26 respectively by screws, which facilitates disassembly and maintenance.

[0047] The three-axis gyroscope 30 mounted on the instrument mount 27 provides high-precision attitude information and plays a role in balancing and stabilizing the instrument 45.

[0048] A first pitch limiting block 40 and a second pitch limiting block 41 are fixedly mounted on the inner pitch bearing housing 24. A pitch limiting lever 42 is fixedly mounted at the end of the first inner pitch rotating shaft 25. The pitch limiting lever 42 rotates between the first pitch limiting block 40 and the second pitch limiting block 41 to limit the pitch rotation range of the inner pitch rotating assembly 3, so that the instrument 45 is within the visible range of the window on the housing 43.

[0049] Preferably, the servo control drive component 4 is used to calculate the control algorithm, provide the drive voltage for each motor, collect information from the three-axis gyroscope 30 and the outer orientation rotary transformer 8, inner orientation rotary transformer 19 and inner pitch rotary transformer 23, and control the drive instrument 45 to realize inner and outer orientation motion and pitch motion.

[0050] A window is provided on one side of the housing 43, and a protective glass 44 is installed on the window. The instrument 45 rotates within the visible range of the window. The protective glass 44 serves to seal against pressure, transmit the spectrum, and protect the internal instrument 45.

[0051] Example 2

[0052] like Figures 1-3 As shown in Example 1, a method for using an underwater high-precision servo self-stabilizing motion device is further illustrated. The method is as follows:

[0053] S1. The device is connected to external equipment through the base 32 and the second electrical interface 35. When the device is powered on, when it needs to be aligned with the target, the servo control drive component 4 sends instructions to the outer azimuth rotation component 1, the inner azimuth rotation component 2 and the inner pitch rotation component 3, thereby driving the instrument 45 to rotate in multiple angles and directions, and outputting the rotation azimuth and pitch angle values ​​in real time through the rotary transformer output device 45.

[0054] S2. The outer orientation rotation component 1 follows the inner orientation rotation component 2 and completes the rotation action by following the inner orientation angle. The outer orientation rotary transformer 8 outputs the outer orientation angle value in real time. The servo control drive component 4 combines the real-time output values ​​of the inner orientation rotary transformer 19 and the outer orientation rotary transformer 8 to output the real-time orientation angle value of the device.

[0055] S3. When the instrument 45 needs to stabilize the optical axis, the instrument mounting base 27 in the sensitive inertial space is disturbed by the three-axis gyroscope 30. The angular velocity of the disturbance of the instrument 45 is measured by the three-axis gyroscope 30. The servo control drive component 4 outputs control commands based on the difference between the speed input and the measured value of the three-axis gyroscope 30. The inner azimuth motor 18 and the inner pitch motor 22 quickly rotate in the opposite direction of the disturbance, so that the angular velocity of the optical axis of the instrument 45 in space reaches the minimum, thereby achieving the effect of resisting disturbance and stabilizing the optical axis.

[0056] Preferably, when the device is in an environment of internal and external pressure difference, the piston in the differential pressure compensator 33 in the pressure balancing mechanism 31 moves back and forth, driving the electric pump oil 34 to transmit pressure, ensuring that the internal and external pressures automatically reach balance, preventing damage to internal equipment and deformation of the sealing structure, and ensuring the safe operation of the device.

[0057] When the differential pressure difference between the inside and outside of the device exceeds a preset threshold, the first differential pressure sensor 36 and the second differential pressure sensor 37 will issue an alarm.

[0058] The above embodiments are merely preferred technical solutions of this utility model and should not be considered as limitations on this utility model. The protection scope of this utility model should be the technical solution described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the protection scope of this utility model.

Claims

1. An underwater high-precision servo self-stabilizing motion device, characterized in that: It includes a base cylinder (5), an outer orientation rotation component (1) is provided inside the base cylinder (5), an inner orientation rotation component (2) and a servo control drive component (4) are provided on the outer orientation rotation component (1), and an inner pitch rotation component (3) is provided on the inner orientation rotation component (2). The outer orientation rotation shaft system (10) in the outer orientation rotation assembly (1) rotates inside the base cylinder (5). An outer orientation torque motor (7) and an outer orientation rotary transformer (8) are provided between the outer orientation rotation shaft system (10) and the base cylinder (5). A rotating support (12) is fixed at the end of the outer orientation rotation shaft system (10). A housing (43) is fixed on the rotating support (12). The inner orientation rotation assembly (2) and the servo control drive assembly (4) are located inside the housing (43) and installed on the rotating support (12). The inner orientation rotating seat (20) in the inner orientation rotating assembly (2) is fixed on the rotating support (12). The inner orientation rotating seat (20) is provided with a rotating inner orientation rotating shaft system (17). An inner orientation motor (18) and an inner orientation rotary transformer (19) are provided between the inner orientation rotating shaft system (17) and the inner orientation rotating seat (20). A U-shaped frame (21) is fixed at the end of the inner orientation rotating shaft system (17). The inner pitch rotating assembly (3) is installed on the U-shaped frame (21). The first inner pitch rotating shaft (25) and the second inner pitch rotating shaft (26) in the inner pitch rotating assembly (3) are respectively installed at both ends of the U-shaped frame (21) through the inner pitch bearing seat (24). An inner pitch rotary transformer (23) is provided between the first inner pitch rotating shaft (25) and the inner pitch bearing seat (24). An inner pitch motor (22) is provided between the second inner pitch rotating shaft (26) and the inner pitch bearing seat (24). An instrument fixing seat (27) is fixed between the first inner pitch rotating shaft (25) and the second inner pitch rotating shaft (26). An instrument (45) and a three-axis gyroscope (30) are installed on the instrument fixing seat (27).

2. The underwater high-precision servo self-stabilizing motion device according to claim 1, characterized in that: A fixing ring (11) is fixed at the end of the base cylinder (5), a glyph (13) is provided between the fixing ring (11) and the rotating support (12), and a sealing ring is provided between the fixing ring (11) and the base cylinder (5); The outer orientation rotation shaft system (10) rotates within the base cylinder (5) through the first bearing (14) and the second bearing (15) at both ends.

3. The underwater high-precision servo self-stabilizing motion device according to claim 1, characterized in that: The servo control drive component (4) is used to calculate the control algorithm, provide the drive voltage of each motor, collect information from the three-axis gyroscope (30) and the outer orientation rotary transformer (8), inner orientation rotary transformer (19), and inner pitch rotary transformer (23), and control the drive instrument (45) to realize the inner and outer orientation motion and pitch motion.

4. The underwater high-precision servo self-stabilizing motion device according to claim 1, characterized in that: The base cylinder (5) is provided with a pressure balancing mechanism (31) and a base (32) at the bottom. The pressure balancing mechanism (31) is provided with a differential pressure compensator (33) and a first differential pressure sensor (36). The differential pressure compensator (33) is used to automatically balance the internal and external differential pressure. The pressure balancing mechanism (31) and the base cylinder (5) are filled with electric pump oil (34). A second differential pressure sensor (37) is provided on the rotating support (12). The first differential pressure sensor (36) and the second differential pressure sensor (37) are used to detect the internal and external pressure difference.

5. The underwater high-precision servo self-stabilizing motion device according to claim 4, characterized in that: The base (32) is provided with a second electrical interface (35), the rotating support (12) is provided with a first electrical interface (16), the outer orientation rotating shaft system (10) is provided with a conductive slip ring (9), and the first electrical interface (16), the conductive slip ring (9) and the second electrical interface (35) are electrically connected.

6. The underwater high-precision servo self-stabilizing motion device according to claim 1, characterized in that: An azimuth limit pin (38) is fixed on one side of the inner azimuth rotating seat (20), and an azimuth limit seat (39) is fixed on one side of the U-shaped frame (21). The azimuth limit pin (38) is located inside the azimuth limit seat (39) and is used to limit the azimuth rotation range of the inner azimuth rotating assembly (2).

7. The underwater high-precision servo self-stabilizing motion device according to claim 1, characterized in that: internal... A first pitch limiting block (40) and a second pitch limiting block (41) are fixed on the pitch bearing housing (24). A pitch limiting lever (42) is fixed at the end of the first inner pitch rotating shaft (25). The pitch limiting lever (42) rotates between the first pitch limiting block (40) and the second pitch limiting block (41) to limit the pitch rotation range of the inner pitch rotating assembly (3).

8. The underwater high-precision servo self-stabilizing motion device according to claim 1, characterized in that: A window is provided on one side of the housing (43), and a protective glass (44) is installed on the window. The instrument (45) rotates within the visible range of the window.

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